
#ifndef DYNAMIXEL_H_
#define DYNAMIXEL_H_

#include "dynamixel_hal.h"
#include "system.h"
#include "stdint.h"

class Dynamixel
{
  public:
    Dynamixel(void);

    void work(uint32_t time);
    void setTorqueEnable(bool on);
    void setLed(bool on);
    int getTemperature(void);
    int getVoltage(void);
    void setSpeed(int speed);
    
  private:
    int servo_id;
    DynamixelHal dynamixel_hal;

};

#endif /* DYNAMIXEL_H_ */
